The best one out there is k9copy but I've been having issues with it in 12.10 64bit, a good alternative is dvd95 and there's another app called xdvdshrink found here though xdvdshrink's subtitle ripping capabilities seem broken.
Another option for you would be to run dvdshrink through wine, I have been able to do this rather easily, the only thing extra needed is to list your cdrom in your fstab file and then also add the drive in winecfg as well.
Start by running this command:
sudo mkdir -v /media/cdrom
This will make the directory where your cdrom will be mounted. Then run this command to open fstab with gedit as root.
gksudo gedit /etc/fstab
Here's the fstab line needed to mount the cdrom, simply copy and paste it to the end of your fstab file:
# built in CDrom
/dev/sr0 /media/cdrom auto ro,noauto,user,exec 0 0
Run this command:
sudo mount -a
Here's a picture of where to add drives in winecfg just click the drives tab, then the autodetect button. Then apply, and OK.